CN103616951B - System and method for implementing force feedback - Google Patents
System and method for implementing force feedback Download PDFInfo
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- CN103616951B CN103616951B CN201310634901.1A CN201310634901A CN103616951B CN 103616951 B CN103616951 B CN 103616951B CN 201310634901 A CN201310634901 A CN 201310634901A CN 103616951 B CN103616951 B CN 103616951B
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Abstract
The embodiment of the invention provides a system and method for implementing force feedback. The system for implementing force feedback comprises a force feedback recording device and a force feedback execution device, wherein the force feedback recording device is used for recording original vibration data of a sensor in a sensitive area of a target object and a motion track of the target object, and obtaining force feedback data according to the original vibration data and the motion track, and the force feedback execution device is used for processing the force feedback data and generating force feedback vibration corresponding to the original vibration data. According to the system and method for implementing force feedback, the force feedback data in a real scene can be obtained, and the final force feedback vibration effect can be achieved.
Description
Technical field
The present invention relates to force feedback technique field, particularly relate to a kind of force feedback realizes system and method.
Background technology
Force feedback technique is the interaction technique that a kind of utilization mechanical stress gives people's sense of reality in tactile.At present big
In the low-end applications of part, the force feedback for using eccentric motor to realize, vibration is single, or even some amplitudes all can not be adjusted
It is whole.In some high-end applications, the force feedback of exquisiteness is carried out as force feedback device using gear drive or wirerope transmission
Effect.
Real force feedback touch feeling effect is realized, is not simply to produce by common machinery concussion, but one section
Directive continuous mechanical stress process.
As people study for many years the principle of sound, various process can be carried out to sound, but still be difficult with calculating
Machine directly produces the voice of the mankind, finally generally takes the mode that recording and later stage are processed.In the same manner continuous force feedback is used as one
The extraneous information of human perception is planted, people are difficult to fabricate out such information.
It is at present less in force feedback field to involve how to obtain force feedback data true to nature, it is senior just as possessing
Stereo set but not no good recording arrangement, cannot obtain all the time perfect Consumer's Experience.
The content of the invention
What the technical problem to be solved in the present invention was to provide a kind of force feedback realizes system and method, can obtain true field
Force feedback data and final force feedback vibrating effect in scape.
To solve above-mentioned technical problem, on the one hand, embodiments of the invention provide a kind of system of realizing of force feedback, bag
Include：
Force feedback recording equipment, for recording original vibration data and the institute of the sensor of the sensitizing range of destination object
The movement locus of destination object are stated, and force feedback data is obtained according to the original vibration data and movement locus；
Force feedback performs device, for processing the force feedback data, produces and the original vibration data phase
Corresponding force feedback vibrations.
Wherein, the force feedback recording equipment includes：
Sensor assembly, is arranged at the sensitizing range of destination object, for obtaining original vibration data；
Motion tracking module, for carrying out record process to the movement locus of destination object；
Data acquisition module, for carrying out pretreatment to the original vibration data and the movement locus, obtains pre-
Result；
Force feedback processing module, for processing the pre-processed results, obtains force feedback data file.
Wherein, the sensitizing range is multiple, and the sensor assembly includes：At least one arranged in each sensitizing range
Individual sensor, wherein, the sensor is multi-spindle machining strain gauge.
Wherein, the multi-spindle machining strain gauge is specially：Electromagnetic mechanical strain gauge, piezoelectric type mechanical stress
Sensor or accelerometer.
Wherein, the multi-spindle machining strain gauge is specially：Electromagnetic mechanical strain gauge or piezoelectric type machinery
During strain gauge, the data acquisition module is specifically included：
Signal conditioning circuit, for being amplified process to the original vibration data, the signal after being amplified；
Analog-digital converter, for carrying out analog digital conversion to the signal after the amplification, obtains digital signal；
First data communication interface, for giving the force feedback processing module by the digital data transmission.
Wherein, when the multi-spindle machining strain gauge is specially accelerometer, the data acquisition module is specifically included：
Accelerate data processor, for carrying out conversion process to the data of the accelerometer, obtain acceleration information；
Second data communication interface, for the acceleration information to be transferred to into the force feedback processing module.
Wherein, the motion tracking module includes：Movement locus logging modle, for the motion rail to the destination object
Mark is recorded, and obtains movement locus record data.
Wherein, the motion tracking module also includes：Buffer module, for filtering the movement locus record data in
Little yardstick vibration data.
Wherein, the force feedback performs device includes：
Force feedback performs application module, for according to the situation of practical application scene, selecting the force feedback data
Select, obtain the force feedback data of selection；
Force feedback performs control module, for the force feedback data of the selection to be converted to into multiaxis force feedback performing module
Required signal, and drive the multiaxis force feedback performing module；
Multiaxis force feedback performing module, for producing the force feedback vibrations corresponding with the original vibration data.
Wherein, the multiaxis force feedback performing module includes：With the sensor of the sensitizing range of the destination object one by one
Corresponding force feedback executor, the force feedback executor includes：The permanent magnet that is placed in a coil and with the permanent magnet
The coupling lever of connection, and connect the balancing weight of the coupling lever, each force feedback executor at least includes three shaft couplings
Bar, three coupling levers are arranged on the pedestal of the destination object equipment in the form of x, y, z axle direction in 3-D walls and floor
On.
On the other hand, embodiments of the invention also provide a kind of implementation method of force feedback, including：
The original vibration data and the motion rail of the destination object of the sensor of the sensitizing range of record destination object
Mark, and force feedback data is obtained according to the original vibration data and movement locus；
The force feedback data is processed, the force feedback vibrations corresponding with the original vibration data are produced.
Wherein, the original vibration data and the destination object of the sensor of the sensitizing range of the record destination object
Movement locus, and include the step of obtain force feedback data according to the original vibration data and movement locus：
Original vibration data is obtained by the sensor assembly of sensitizing range；
Record process is carried out to the movement locus of destination object；
Pretreatment is carried out to the original vibration data and the movement locus, pre-processed results are obtained；
The pre-processed results are processed, force feedback data file is obtained.
Wherein, it is described that the force feedback data is processed, produce the power corresponding with the original vibration data anti-
The step of feedback vibrations, includes：
According to the situation of practical application scene, the force feedback data is selected, obtain the force feedback data of selection；
According to the force feedback data of the selection, the force feedback vibrations corresponding with the original vibration data are produced.
The above embodiment of the present invention has the advantages that：
The present invention such scheme by record destination object sensitizing range sensor original vibration data and
The movement locus of the destination object, and force feedback data is obtained according to the original vibration data and movement locus；To described
Force feedback data is processed, and produces the force feedback vibrations corresponding with the original vibration data.Real scene can be obtained
In force feedback data and final force feedback vibrating effect, so as to help force feedback equipment architects provide quickly set
Meter and means of testing, for force feedback application program designer provides acquisition real scene in force feedback data and final power it is anti-
Feedback effect.
Description of the drawings
Fig. 1 is the overall structure block diagram for realizing system of the force feedback of the present invention；
Fig. 2 is the structured flowchart of the force feedback recording equipment in the system shown in Fig. 1；
Fig. 3 is the first embodiment structured flowchart of the data acquisition module in the force feedback performs device shown in Fig. 2；
Fig. 4 is the second embodiment structured flowchart of the data acquisition module in the force feedback performs device shown in Fig. 2；
Fig. 5 is the structured flowchart of the force feedback performs device in the system shown in Fig. 1；
Fig. 6 is that of the force feedback recording equipment shown in Fig. 2 implements example schematic；
Fig. 7 is that of the force feedback performs device shown in Fig. 5 implements example schematic；
Fig. 8 is that the one of the implementation method of the force feedback of the present invention implements process schematic；
Fig. 9 is the schematic diagram that an objectives object (by taking G36 rifles as an example) realizes force feedback；
Figure 10 is the schematic diagram that another objectives object (by taking car steering device as an example) realizes force feedback.
Specific embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
It is an object of the invention to provide system is realized in a kind of general force feedback, the structure for helping force feedback equipment sets
Meter person provides quickly design and means of testing, and the power that provides in acquisition real scene of designer for force feedback application program is anti-
Feedback data and final force feedback effect.
The present invention core concept be：Using a kind of distributed acquisition mode, several are easily installed and are dismantled
Shaking sensor, is installed on the crucial sensitive position of human contact's destination object, and loyal records what these human bodies were contacted
The vibration data of position, when force feedback is needed, is recorded these with force feedback performs device on same sensitive position
Data " broadcasting " out, reduction human body really experience.
As shown in figure 1, embodiments of the invention a kind of force feedback is provided realize system, including：
Force feedback recording equipment 11, for record the sensor of the sensitizing range of destination object original vibration data and
The movement locus of the destination object, and force feedback data is obtained according to the original vibration data and movement locus；
Force feedback performs device 12, for processing the force feedback data, produces and the original vibration data
Corresponding force feedback vibrations.
Original vibration data and the target that the embodiment passes through the sensor of the sensitizing range of record destination object
The movement locus of object, and force feedback data is obtained according to the original vibration data and movement locus；To the force feedback number
According to being processed, the force feedback vibrations corresponding with the original vibration data are produced.The power that can be obtained in real scene is anti-
Feedback data and final force feedback vibrating effect, so as to the architects for helping force feedback equipment provide quickly design and test
Means, the designer for force feedback application program provides the force feedback data and final force feedback effect that obtain in real scene.
In a specific embodiment of the present invention, as shown in Fig. 2 the force feedback recording equipment 11 includes：
Sensor assembly 21, is arranged at the sensitizing range of destination object, for obtaining original vibration data；
Motion tracking module 25, for carrying out record process to the movement locus of destination object；
Data acquisition module 22, for carrying out pretreatment to the original vibration data and the movement locus, obtains
Pre-processed results；
Force feedback processing module 23, for processing the pre-processed results, obtains force feedback data file 24.It is right
The process that the pre-processed results are processed includes：Definition and the binding relationship of statement sensor-force feedback performs device；It is fixed
The passage binding relationship of justice and each number of axle evidence of statement sensor and force feedback performs device；Noise reduction and filter are carried out to initial data
Ripple, removes big displacement data to shaking the impact of verity, obtains true vibration data；Noise reduction and filtered data are carried out
Compressed encoding；The process such as later stage human-edited is carried out to force feedback effect.By above-mentioned process, force feedback data file is obtained
24。
Wherein, the sensitizing range is multiple, and the sensor assembly 21 includes：Arrange at least in each sensitizing range
One sensor, wherein, the sensor is multi-spindle machining strain gauge.
Multi-spindle machining strain gauge：For detecting the vibrations on x, y, z axle.Its quantity and the mechanism of device for force feedback
(i.e. geometry) has relation, the human body sensitive keys position to be touched on the device for needing to gather force feedback data
Put.The device for installing sensor is placed in application scenarios, turn-on data collection, now device institute Jing in application scenarios
During displacement, vibrations and collision for going through etc., the tactile initial data of the sensitizing range that human body skin is touched will be by its institute
Perceive.
Again as shown in Fig. 2 multi-spindle machining stress sensing implement body can include：Multi-spindle machining strain gauge 1,2,
3……N；The quantity of the sensor can be changed according to actual application scenarios.
Wherein, the multi-spindle machining strain gauge is specifically as follows：Electromagnetic mechanical strain gauge, piezoelectric type machinery
Strain gauge or accelerometer.
Electromagnetic mechanical strain gauge：Core (i.e. one single shaft is made up of the balancing weight and coil that are connected to permanent magnet
Sensor).Balancing weight and permanent magnet can only axially-movable, when vibration occurs, balancing weight is moved in the axial direction by vibration influence,
Permanent magnet is driven to move in coil, coil cutting magnetic induction line produces the signal of telecommunication.The size and quality of balancing weight determines its machine
Tool resonant frequency, the balancing weight of multiple frequency bands can be installed on single axial direction can improve the frequency range of recording.Will be with three-dimensional
The form of the x, y, z axle direction in coordinate axess is arranged on three cores on one pedestal, that is to say, that three cores are pacified respectively
It is mounted on the same pedestal of destination object, and is respectively provided with three mutually orthogonal directions, that is, constitutes a multi-spindle machining
Strain gauge.This kind of sensor is adapted to gather the force feedback equipment of large-scale vibrating, such as firearms, frame tool.
Piezoelectric type mechanical stress sensor：Core (i.e. one single-axis sensors) is made up of balancing weight and piezoelectric membrane.Match somebody with somebody
Pouring weight can only axially-movable, when vibration occurs, balancing weight is moved in the axial direction by vibration influence, to piezoelectric membrane produce machinery
Stress, piezoelectric membrane can produce the signal of telecommunication.The size and quality of balancing weight determines its mechanical resonance frequency, meeting on single axial direction
Installing the balancing weight of multiple frequency bands can improve the frequency range of recording.By with the x, y, z axle direction in 3-D walls and floor
Form is arranged on three cores on one pedestal, that is to say, that three cores are separately mounted to the same pedestal of destination object
On, and be respectively provided with three mutually orthogonal directions, that is, constitute a multi-spindle machining strain gauge.This kind of sensor is fitted
Close the more accurate force feedback by a small margin of collection, such as sham operated, operation rod of stereo display etc..
Accelerometer：Digital accelerometer obtains the acceleration information on axial direction.Because accelerometer is equal to axle indirectly
Stress upwards, it is possible to use acceleration is measuring vibrations.The accelerometer of the embodiment of the present invention is using with 3-D walls and floor
In the axle of x, y, z three accelerometer as multi-spindle machining strain gauge.This kind of sensor is adapted to the essence without a large amount of displacements
Close force feedback by a small margin.
In a specific embodiment of the present invention, the data acquisition module 22 is passed specifically for gathering multi-spindle machining stress
Original vibration data produced by sensor simultaneously carries out pretreatment, while the force feedback by communications interface transmission to computer is processed
Module 23 is processed.As shown in figure 3, when the multi-spindle machining strain gauge be specially electromagnetic mechanical strain gauge or
During person's piezoelectric type mechanical stress sensor, the data acquisition module 22 includes：
Signal conditioning circuit 31, for being amplified process to the original vibration data, the signal after being amplified；
Modulus (A/D) transducer 32, for carrying out analog digital conversion to the signal after the amplification, obtains digital signal；
First data communication interface 33, for giving the force feedback processing module 33 by the digital data transmission.
For electromagnetic type and the mechanical stress sensor of piezoelectric type, typically processed with the circuit shown in Fig. 3.Due to big
All in the range of audibility of people, its acquisition principle is also similar to mike to the frequency range of part vibrations, therefore the circuit in Fig. 3 can be with
Realized using the amplifier and modulate circuit commonly used in sound technique.
In a specific embodiment of the present invention, as shown in figure 4, when the multi-spindle machining strain gauge specially accelerates
Timing, the data acquisition module 22 is specifically included：
Accelerate data processor 41, for carrying out conversion process to the data of accelerometer, obtain acceleration information；Single shaft
Acceleration in (such as the x-axis on three-dimensional coordinate) is equal in this case the stress on single shaft, can pass through stressing conditions
Calculate the data of force feedback vibrations.
Second data communication interface 42, for giving the force feedback processing module by the digital data transmission.
For accelerometer, the such as circuit of Fig. 4 is processed.Accelerate data processor digital interface such as I2C and SPI etc.
Data are read from accelerometer.
In above-described embodiment, force feedback processing module 23 is carried out specifically for providing a patterned interface for user
Specific force feedback design.Its specific responsibility is as follows：1, there is provided an interface allows user to carry out sensitizing range setting, sensor class
Type is selected, sensitizing range is bound with sensor, sensitizing range is arranged with force feedback performs device binding etc..2, by sensor acquisition
To data through big displacement data (the larger part of the larger vibration displacement in other words of displacement that contains in movement locus) filter
After removing, the data changed into after passage and sensor type label needed for force feedback application program are added, and save as power
Feedback data file 24.Force feedback data file 24 is the force feedback data file used to force feedback performs device 12.
In the above embodiment of the present invention, the motion tracking module 25 can include：Movement locus logging modle, it is described
Movement locus logging modle, for recording to the movement locus of the destination object, obtains movement locus record data, fortune
Dynamic rail mark logging modle specifically can include：Gyroscope and accelerometer.Specifically entered using the equipment of gyroscope and accelerometer
The tracing of the movement of row destination object, the acceleration at accelerometer energy accurate recording each moment, gyroscope be for amendment compared with
Prolonged displacement accumulated error, by accelerometer and gyroscope the movement locus at each moment are determined jointly.
Wherein, the motion tracking module also includes：Buffer module (such as 103 in Fig. 6), for filtering the motion rail
Little yardstick vibration data in mark record data.So can preferably obtain more real force feedback data.
The data that sensor is obtained include unwanted destination object global displacement data and required vibration data, this
Be use balancing weight sensor itself characteristic institute extremely.For the sensor of certain particular design, can be tracked with associated movement
Module carries out mass data collection jointly, obtains destination object global displacement data and motion tracking device that sensor is included
The mapping relations of the displacement data for being obtained, using unwanted destination object in the data that this relation is obtained sensor
Global displacement data are filtered, and obtain required vibration data.
In a specific embodiment of the present invention, as shown in figure 5, the force feedback performs device 12 includes：
Force feedback performs application module 51, for according to the situation of practical application scene, carrying out to the force feedback data
Select, obtain the force feedback data of selection；Specifically, for controlling the interaction between scene and force feedback, force feedback data is literary
Part 24 performs application module 51 and reads by force feedback, according to the practical situation in application scenarios, will record under certain fixed scene
The force feedback data of system, optionally sends force feedback to and performs control module 52；
Force feedback performs control module 52, and for the force feedback data of the selection to be converted to into multiaxis force feedback mould is performed
Signal needed for block, and drive the multiaxis force feedback performing module；Specifically, force feedback performs control module 52 and is responsible for power
Feedback data is converted into the signal needed for 53 groups of multiaxis force feedback performing module, multiaxis force feedback performing module 53 is driven, whole
The force feedback vibrations recorded before the home position reduction of individual device；
Multiaxis force feedback performing module 53, shakes (i.e. for producing the force feedback corresponding with the original vibration data
The force feedback vector of synthesis).
Wherein, the multiaxis force feedback performing module 53 includes：With the sensor one of the sensitizing range of the destination object
One corresponding force feedback executor, as shown in Figure 5, multiaxis force feedback executor 1,2 ... N, the multiaxis force feedback is performed
The quantity of device is identical with the quantity of sensor, and corresponds；
The force feedback executor includes：Permanent magnet and the coupling lever being connected with the permanent magnet, and described in connection
The balancing weight of coupling lever, the permanent magnet is placed in a coil, and when the coil is powered on, the coupling lever can be because permanent magnet
Shaken by the driving of coil.Wherein, each force feedback executor at least includes three coupling levers, three shaft couplings
Bar is arranged on the pedestal of the destination object in the form of x, y, z axle direction in 3-D walls and floor；It is understandable that：This
In bright embodiment, force feedback executor is not limited to the form of above-mentioned permanent magnet and coupling lever connection, any to produce shake
Dynamic structure.
Illustrate the detailed implementation for realizing system of above-mentioned force feedback in conjunction with specific example below：
As shown in Figure 6, it is assumed that the frame for movement of the destination object 101 of the situation has 3 sensitizing ranges.Actually required biography
The data of sensor are determined according to specific application scenarios.
Its sensitizing range is located at respectively the first sensitizing range 111, the second sensitizing range 121, the 3rd sensitizing range 131.
Now, by the first multi-spindle machining strain gauge 110, the second multi-spindle machining strain gauge 120, the 3rd multiaxis machine
Tool strain gauge 130 is separately mounted to each affiliated sensitizing range.
Motion tracking module 102 (wherein, the motion tracking module 102 is identical with above-mentioned motion tracking module 35) can be examined
Displacement of the object in large scale is surveyed, for eliminating this large scale displacement to the interference of of multi-spindle machining strain gauge itself.
Buffer module 103 is used to help motion tracking module 102 and filters actually useful little yardstick vibration data.Motion tracking module
102 and buffer module 103 at the geometric center position of the body of destination object 101, so can more preferably eliminate this big
Yardstick displacement is to the interference of multi-spindle machining strain gauge itself and filters actually useful little yardstick vibration data, obtains trueer
Real force feedback data.It is preferred that in a variant embodiment, motion tracking module 102 and buffer module 103 are located at target
At the geometric center position that all sensitizing ranges on the body of object 101 are constituted, more real force feedback number can be preferably obtained
According to.
When recording at first, the frame for movement of destination object 101 is placed on into scene and is experienced in whole recording process
Various displacements, vibrations and collision.The sensor of each sensitizing range will collect three axle vibration datas of the sensitizing range, these
Vibration data is by the data collecting module collected being connected with sensor.Output signal of this data acquisition module according to sensor
Type and become.Motion tracking module 102 collects the position of the frame for movement of destination object 101 during whole recording (or record)
Move.
Due to the characteristic of sensor itself, the data for being collected can include the impact of displacement.By each sensitizing range
The Data Synthesis of the axle of sensor three are vector, a rather than simple vibration amplitude.Due to the machinery knot for having destination object 101
The displacement data of structure, can filter the displacement data included on vibrations vector, obtain the upper real vibrations vector of each point.
Force feedback processing module 23 also sensor number and sensitizing range can be numbered etc. information add in data flow as
Data label, calls so that force feedback performs application module 51.Most at last data are saved as and can apply mould for force feedback execution
The data file that block 51 is used.
As shown in fig. 7, the structure one that the mechanical mechanism of destination object 201 must be adopted with recording (or record) device
Cause.
First multiaxis force feedback executor 210, the second multiaxis force feedback executor 220 and the 3rd multiaxis force feedback executor
230 grades must be installed in strict accordance with position when recording and attitude.
When device is started working, above-mentioned first multiaxis force feedback executor 210, the second multiaxis force feedback executor
220 and the 3rd multiaxis force feedback executor 230 vibrations by force feedback perform application module 51 controlled.When need play one section
When force feedback action, force feedback performs application module 51 and extracts requisite number from the force feedback data file for recording and sorting out
According to, send to force feedback perform control module 52.It is anti-that force feedback data is processed into multi-axial forces by force feedback execution control module 52
Control signal needed for feedback executor, produces corresponding force feedback vibrations.
Due to the distance of the installation of 3 force feedback executors it is very near, therefore they produce vibrations synthesis vibrations arrow
Amount is approximately equal to the vibrations in initial data.One when the position installed due to whole multi-axial sensor and attitude and collection
Cause, therefore can truly reduce the true force feedback experienced during recording.
The present invention also provides a kind of implementation method for realizing system of the above-mentioned force feedback of correspondence, the concrete implementation of the method
Flow process is as shown in figure 8, the sensor of each sensitizing range obtains original vibration data, the fortune of motion tracking module acquisition destination object
Dynamic rail mark, the data of each sensor are respectively by a data channel transfer to data acquisition module, data acquisition module pair
The data and movement locus of sensor carry out after pretreatment, being sent to force feedback processing module, are entered by force feedback processing module
After row is processed, force feedback data file is obtained；
Force feedback data file is incoming to force feedback execution application module, and is selected by force feedback execution application module
After process, it is sent to force feedback and performs after control module processed, the waveform after being processed, so as to by the waveform after process
Again each multiaxis force feedback executor 210,220,230 sent to channel form respectively, it is each with what is recorded before so as to restore
Sensitizing range identical feedback vibrations.
The practical application example for realizing system of above-mentioned force feedback is illustrated with reference to Fig. 9 and Figure 10：
Practical application example 1：As shown in figure 9, the vibrations force feedback of simulation small arms firing
Training is simulated using gun model in the meeting used by military training or first person shooting game or is carried
Rise game actual experience degree.Want the true to nature impression for reproducing gun in transmitting ammunition, in addition to recoil and shot, people's limbs
The tactile vibrations of the body of a gun to be touched are also very important.
As shown in figure 9, by taking G36 rifle models as an example.Wherein, the position main positions bag that the place of drawing a circle is contacted by human body
Include：Hand steered guide rail 1, handle 2 and gun stock 3, the sensitizing range that these positions will gather as force feedback.Drawing a circle, position 4 is pacified
Dress motion tracer, the device is used to record the movement locus of user, to filter the shake that these motions are arrived to sensor acquisition
The impact of dynamic data.
Pretreatment process：
Step 1, provides the preview graph of recorded object in force feedback processing module, and setting sensitizing range 1,2,3 is simultaneously
Vision mark is carried out in preview graph, is easy to user intuitively to process；
Step 2, compiles in the real corresponding install sensor group of sensitive position 1,2 and 3 of G36 rifles and to each sensor
Number 1,2,3；
Step 3, the sensitizing range 1,2,3 in these sensors and step 1 is bound.
Record flow process：
Step 4, says the word in force feedback processing module and starts to record.
Step 5, using real G36 rifles " single-shot " is carried out, the live shell of " closely-spaced fixed fire " and " automatically opening fire "
Shooting.Sensor will collect such as " single-shot ", required for the various users such as " closely-spaced fixed fire " and " automatically opening fire "
Under action the data of each sensitizing range and during this user movement locus；
Step 6, preserves data, corresponding data is named as into " single-shot ", " closely-spaced fixed fire " and " automatically opening fire "；
Modelling process：
Step 7,1:Corresponding force feedback is installed with same attitude and is held in the sensitizing range 1,2,3 of 1 G36 rifle models
Row device, be with position during test and attitude strict conformance；
Step 8, to correspondence 1, the force feedback executor numbering 1,2,3 that prosposition is put.
Flow chart of data processing：
Step 9, force feedback performs good " single-shot " of application module reading and saving, " closely-spaced fixed fire " and " full-automatic
The original force feedback data file of fire "；
Step 10, the sensitizing range arranged in preview graph, binding force feedback executor 1,2,3；
Step 11, ties up the sensing data 1,2,3 for collecting with the data channel for being transferred to force feedback executor 1,2,3
It is fixed, and add channel number and various binding information labels to be used to recognize in data flow；
The data of the data of motion tracking module and each passage are carried out contrast algorithm by step 12, by large scale displacement pair
The impact of sensor is filtered, and improves the quality of the data for collecting；
Step 13, saves as force feedback and performs the data file that application module can be used directly.
The flow process of force feedback application：
Step 14, is being carried out correspondingly " single-shot ", " little using G36 rifle models when user is detected in virtual training
Dot interlace is penetrated " and " automatically opening fire " operation, triggering force feedback perform application module；
Step 15, according to the action type identified in step 1, reads corresponding data file.
Step 16, force feedback performs application module parsing data file, sends the data after parsing to force feedback and performs
Control module；
Step 17, force feedback performs the control signal that control module is converted into data needed for force feedback executor；
Step 18, force feedback executor performs force feedback, completes the broadcasting of force feedback.
Practical application example 2：As shown in Figure 10, sport car/aircraft etc. drives the force feedback of tool drive simulating：
The various simulation device the insides for driving tool can all add force feedback to pursue sense of reality.It is especially big in the class of sport car one
Horsepower drive tool on, due to the class of turbocharging one engine technique exist, electromotor roar and drive when stepping on the gas suddenly
The vibrations of vehicle body, are that many people play the pleasant sensation source chased when car.
Simulation steering wheel as shown in Figure 10 and throttle model.The direction that same location people physical ability is experienced on true car
Disk is shaken hands, gas pedal, and clutch pedal and brake pedal are set to sensitizing range, the install sensor on sensitizing range.
After starting to record, the process of various acceleration, brake and various road surface downward drivings is experienced with true car, will not be sympathized with
Data under condition are preserved.
The force feedback that the above embodiment of the present invention is adopted realizes that system provides the data of continuous force feedback and adopting
Collection and the comprehensive solution played, this comprehensive solution may apply in three-dimensional interaction field.It is right using the system
In the mechanical development person of force feedback product, can the structure new to carry out quick force feedback test；For force feedback is produced
The software developer of product, can easily obtain the data of force feedback as recording.
On the other hand, embodiments of the invention also provide a kind of implementation method of force feedback, including：
Step 11, records the original vibration data and the destination object of the sensor of the sensitizing range of destination object
Movement locus, and force feedback data is obtained according to the original vibration data and movement locus；
Step 12, is processed the force feedback data, produces the force feedback corresponding with the original vibration data
Vibrations.
Wherein, step 11 includes：
Step 111, by the sensor assembly of sensitizing range original vibration data is obtained；
The movement locus of destination object are carried out record process by step 112；
Step 113, to the original vibration data and the movement locus pretreatment is carried out, and obtains pre-processed results；
The pre-processed results are processed by step 114, obtain force feedback data file.
Wherein, step 12 includes：
Step 121, according to the situation of practical application scene, selects the force feedback data, obtains the power of selection
Feedback data；
Step 122, according to the force feedback data of the selection, obtains the force feedback corresponding with the original vibration data
Vibrations；Specifically, the force feedback data of the selection is converted to into the signal needed for multiaxis force feedback performing module, and drives institute
State multiaxis force feedback performing module；The force feedback corresponding with the original vibration data is produced by multiaxis force feedback performing module
Vibrations.
All implementations in said system be applied to the method embodiment, the method embodiment also can reach with it is upper
State system identical technique effect.
It is understood that above-mentioned method each step can be by the various of various computers or computing device
Process, but regardless of whether being explicitly shown such computer or processor in figure.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of without departing from principle of the present invention, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (11)
1. system is realized in a kind of force feedback, it is characterised in that included：
Force feedback recording equipment, for recording the original vibration data and the mesh of the sensor of the sensitizing range of destination object
The movement locus of mark object, and force feedback data is obtained according to the original vibration data and movement locus；
Force feedback performs device, for processing the force feedback data, produces corresponding with the original vibration data
Force feedback vibrations；
Wherein, the force feedback recording equipment includes：
Sensor assembly, is arranged at the sensitizing range of destination object, for obtaining original vibration data；
Motion tracking module, for carrying out record process to the movement locus of destination object；
Data acquisition module, for carrying out pretreatment to the original vibration data and the movement locus, obtains pretreatment
As a result；
Force feedback processing module, for processing the pre-processed results, obtains force feedback data file, the force feedback
Data file is the force feedback data file used to the force feedback performs device；
Wherein, the process that the pre-processed results are processed is included：Define and state sensor-force feedback performs device
Binding relationship；Definition and the passage binding relationship of each number of axle evidence of statement sensor and force feedback performs device；Initial data is entered
Row noise reduction and filtering, remove big displacement data to shaking the impact of verity, obtain true vibration data；After noise reduction and filtering
Data be compressed coding；Later stage human-edited's process is carried out to force feedback effect.
2. system is realized in force feedback according to claim 1, it is characterised in that the sensitizing range be it is multiple, it is described
Sensor assembly includes：At least one sensor is set in each sensitizing range, wherein, the sensor is multi-spindle machining stress
Sensor.
3. system is realized in force feedback according to claim 2, it is characterised in that the multi-spindle machining stress sensing utensil
Body is：Electromagnetic mechanical strain gauge, piezoelectric type mechanical stress sensor or accelerometer.
4. system is realized in force feedback according to claim 3, it is characterised in that the multi-spindle machining stress sensing utensil
Body is：When electromagnetic mechanical strain gauge or piezoelectric type mechanical stress sensor, the data acquisition module is specifically included：
Signal conditioning circuit, for being amplified process to the original vibration data, the signal after being amplified；
Analog-digital converter, for carrying out analog digital conversion to the signal after the amplification, obtains digital signal；
First data communication interface, for giving the force feedback processing module by the digital data transmission.
5. system is realized in force feedback according to claim 3, it is characterised in that when the multi-spindle machining strain gauge
Specially accelerometer when, the data acquisition module is specifically included：
Accelerate data processor, for carrying out conversion process to the data of the accelerometer, obtain acceleration information；
Second data communication interface, for the acceleration information to be transferred to into the force feedback processing module.
6. system is realized in force feedback according to claim 1, it is characterised in that the motion tracking module includes：Fortune
Dynamic rail mark logging modle, for recording to the movement locus of the destination object, obtains movement locus record data.
7. system is realized in force feedback according to claim 6, it is characterised in that the motion tracking module also includes：
Buffer module, for filtering the movement locus record data in little yardstick vibration data.
8. system is realized in force feedback according to claim 1, it is characterised in that the force feedback performs device includes：
Force feedback performs application module, for according to the situation of practical application scene, selecting the force feedback data, obtains
To the force feedback data of selection；
Force feedback performs control module, for the force feedback data of the selection to be converted to needed for multiaxis force feedback performing module
Signal, and drive the multiaxis force feedback performing module；
Multiaxis force feedback performing module, for producing the force feedback vibrations corresponding with the original vibration data.
9. system is realized in force feedback according to claim 8, it is characterised in that the multiaxis force feedback performing module bag
Include：With the one-to-one force feedback executor of the sensor of the sensitizing range of the destination object, the force feedback executor bag
Include：The permanent magnet being placed in a coil, the coupling lever being connected with the permanent magnet, and connect the balancing weight of the coupling lever,
Each force feedback executor at least includes three coupling levers, and three coupling levers are with x, y, z axle court in 3-D walls and floor
To form be arranged on the pedestal of the destination object.
10. a kind of implementation method of force feedback, it is characterised in that include：
The original vibration data and the movement locus of the destination object of the sensor of the sensitizing range of record destination object, and
Force feedback data is obtained according to the original vibration data and movement locus；
The force feedback data is processed, the force feedback vibrations corresponding with the original vibration data are produced；
Wherein, the original vibration data and the fortune of the destination object of the sensor of the sensitizing range of the record destination object
Dynamic rail mark, and included the step of obtaining force feedback data according to the original vibration data and movement locus：
Original vibration data is obtained by the sensor assembly of sensitizing range；
Record process is carried out to the movement locus of destination object；
Pretreatment is carried out to the original vibration data and the movement locus, pre-processed results are obtained；
The pre-processed results are processed, force feedback data file is obtained, the force feedback data file is to force feedback
The force feedback data file that performs device is used；
Wherein, the process that the pre-processed results are processed is included：Define and state sensor-force feedback performs device
Binding relationship；Definition and the passage binding relationship of each number of axle evidence of statement sensor and force feedback performs device；Initial data is entered
Row noise reduction and filtering, remove big displacement data to shaking the impact of verity, obtain true vibration data；After noise reduction and filtering
Data be compressed coding；Later stage human-edited's process is carried out to force feedback effect.
The implementation method of 11. force feedbacks according to claim 10, it is characterised in that described that the force feedback data is entered
Row is processed, and producing the step of the force feedback corresponding with the original vibration data shakes includes：
According to the situation of practical application scene, the force feedback data is selected, obtain the force feedback data of selection；
According to the force feedback data of the selection, the force feedback vibrations corresponding with the original vibration data are produced.
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| CN103984411B (en) * | 2014-04-25 | 2017-07-18 | 深圳超多维光电子有限公司 | Tactile force feedback system and tactile force feedback network system realization |
| CN105700783A (en) * | 2014-11-26 | 2016-06-22 | 中国科学院沈阳自动化研究所 | Secure remote force sense writing system based on force feedback and secure remote force sense control method based on force feedback |
| WO2017061173A1 (en) * | 2015-10-05 | 2017-04-13 | アルプス電気株式会社 | Haptic reproduction device |
| DE102015016152A1 (en) * | 2015-12-12 | 2017-06-14 | Daimler Ag | Haptic feedback at a user interface |
| CN105833524A (en) * | 2016-04-08 | 2016-08-10 | 林云帆 | Force feedback system and method |
| CN105892690B (en) | 2016-05-17 | 2019-09-06 | 京东方科技集团股份有限公司 | Act acquisition device and method, action emulation device and method, haptic communication systems |
| CN108635846B (en) * | 2018-06-22 | 2023-10-27 | 华北科技学院 | Force feedback device and method |
| CN110142758B (en) * | 2019-04-19 | 2021-08-31 | 航天时代电子技术股份有限公司 | Stopping method of wearable wheel type stopping force feedback control device |
| CN113368488B (en) * | 2021-06-11 | 2022-07-05 | 西南大学 | Virtual table tennis bat and force feedback method and system thereof |
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